| 摘要 |
An exterior environment recognition device includes: a specific object detection unit to detect a specific object on the basis of a color image; a data retaining unit to associate and retain the specific object and a luminance range indicating the color of the specific object; and a transparency reduction determination unit to compare a luminance of the color image of the specific object and a luminance range associated with the specific object, and to determine a reduction in transparency of a transparent body located in an image-capturing direction of the onboard camera. |
